研究者詳細 - 石井　和男

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Motion control of a cable-restricted underwater vehicle for long-term spot observation 査読有り国際誌

Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 253 - 256 2021年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2021年01月21日 - 2021年01月24日

In order to acquire a time fluctuation data of the resources which needs for a marine resource development, we developed an observation device with low operational risk and a wide observable area. The observation device consists of an underwater station and an underwater vehicle, and underwater vehicle is tethered with a cable. By using the restraint condition of the cable, our device was able to navigate the trajectory planned only by thrust control with an error of up to 0.14m.

DOI： 10.5954/ICAROB.2021.OS23-2

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Development of current sensors for digitizing expert knowledge in fish feeding towards sustainable aquaculture 査読有り国際誌

Solpico D.B., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 257 - 261 2021年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2021年01月21日 - 2021年01月24日

Improving the efficiency of fish feeding contributes to achieving sustainable expansion of the aquaculture industry. However, expert knowledge on feeding remains reliant on experience. This paper presents a new approach of digitizing such knowledge by measuring underwater currents induced by fishes as indicator of their behavior and appetite. A prototype current sensor suite was constructed to measure the current around the fish cage, especially during feeding.

DOI： 10.5954/ICAROB.2021.OS23-3

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Development of a handy autonomous underwater vehicle“kyubic” 査読有り国際誌

Matsumura T., Uemura Y., Yanagise K., Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 405 - 408 2021年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Ocean is one of big challenging and extreme environments, and hard for human to access directly. As the tool for ocean survey, Autonomous Underwater Vehicles: AUVs are expected and developed from ‘80s. The recent rapid progress of computer and information technologies makes the development of AUVs easier and more practical. We had developed a handy AUV “Kyubic” for the observation of shallow water and artificial structures. In this paper, we describe the system architecture of Kyubic and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.5954/ICAROB.2021.OS22-4

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Underwater 3D Scanner Using RGB Laser Pattern 査読有り国際誌

Yuya Nishida, Shinsuke Yasukawa, Kazuo Ishii

2021 IEEE/SICE International Symposium on System Integrations (SII) ( IEEE/SICE ) 2021 229 - 232 2021年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2021年01月11日 - 2021年01月13日

To preserve and manage fishery resources, the authors developed the scanner based on the structured light method that efficiently measures the target shape at once time. The scanner irradiates the laser pattern that consists of the 6 color lasers and is coded in the De Bruijn sequence to measure the target even in water where light is easily attenuated. Data processing method including image processing and decoding for the reflection image captured by the scanner were proposed in this paper. The evaluation experiment results showed that the scanner can measure the color blocks other than black located in 1,000 mm away, less than 1.4 % error for the measurement range.

DOI： 10.1109/IEEECONF49454.2021.9382643

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Evaluation of Tomato Fruit Harvestability for Robotic Harvesting 査読有り国際誌

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

2021 IEEE/SICE International Symposium on System Integration, SII 2021 ( IEEE/SICE ) 35 - 39 2021年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2021年01月11日 - 2021年01月13日

Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability.

DOI： 10.1109/IEEECONF49454.2021.9382603

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Development and Evaluation of a Tomato Fruit Suction Cutting Device 査読有り国際誌

Fujinaga T., Yasukawa S., Ishii K.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 ( IEEE/SICE ) 628 - 633 2021年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2021年01月11日 - 2021年01月13日

This paper introduces a structure and harvesting motion for the suction cutting device of a tomato harvesting robot, and reports harvesting experiments conducted in a tomato greenhouse. The suction cutting device comprises a suction part and a cutting part. The suction part separates the target fruit from a tomato cluster and the cutting part cuts the peduncle of the target fruit. A photoresistor in the cutting part assesses whether or not the target fruit is harvestable, and the cutting motion is performed only when the fruit is assessed as harvestable. The harvesting experiments were conducted in a tomato greenhouse to evaluate the suction cutting device. In this experiments, 50 tomato clusters were randomly selected as the harvesting objects, and there were 203 tomato fruits (including immature fruits). Out of the 203 tomato fruits, 114 tomato fruits were mature and within the robot workspace. Out of the 114 tomato fruits, 105 tomato fruits were recognized as target fruits by the harvesting robot. Out of these 105 tomato fruits, 65 tomato fruits were assessed as harvestable and 55 were successfully harvested (the harvesting success rate was 85%). Based on the results of the harvesting experiments, this study clarified the issues of the suction cutting device, classified the fruits according to whether they were easy or difficult to harvest, and evaluated the fruit characteristics qualitatively.

DOI： 10.1109/IEEECONF49454.2021.9382670

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Deep-Sea Robotic Survey and Data Processing Methods for Regional-Scale Estimation of Manganese Crust Distribution 査読有り国際誌

Neettiyath U., Thornton B., Sangekar M., Nishida Y., Ishii K., Bodenmann A., Sato T., Ura T., Asada A.

IEEE Journal of Oceanic Engineering 46 ( 1 ) 102 - 114 2021年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

Manganese crusts (Mn-crusts) are a type of mineral deposit that exists on the surface of seamounts and guyots at depths of >800 m. We have developed a method to efficiently map their distribution using data collected by autonomous underwater vehicles and remotely operated vehicles. Volumetric measurements of Mn-crusts are made using a high-frequency subsurface sonar and a 3-D visual mapping instrument mounted on these vehicles. We developed an algorithm to estimate Mn-crust distribution by combining continuous subsurface thickness measurements with the exposed surface area identified in 3-D maps. This is applied to data collected from three expeditions at Takuyo Daigo seamount at depths of ∼1400 m. The transects add to ∼11 km in length with 12 510 m2 mapped. The results show that 52% of the surveyed area is covered by Mn-crusts with a mean thickness of 69.6 mm. The mean Mn-crust occurrence is 69.6 kg/m2 with a maximum of 204 kg/m2 in the mapped region. The results are consistent with estimates made from samples retrieved from the area, showing more detailed distribution patterns and having significantly lower uncertainty bounds for regional-scale Mn-crust inventory estimation.

DOI： 10.1109/JOE.2020.2978967

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Underwater Current Measurements for Fish Feeding Control in Marine Aquaculture 査読有り国際誌

Solpico D.B., Nishida Y., Ishii K.

Oceans Conference Record (IEEE) 2021-September 2021年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

One of the key issues in improving marine aquaculture is achieving efficient control of feeding, which accounts for large percentages of the production costs in aquaculture operations. To quantify the feeding behavior in seas where the environment conditions are variable, we propose to measure underwater currents generated by fish movement in a feeding activity. We developed a sensor suite consisting of custom-made current sensors and underwater cameras. We deployed this prototype in two sea fish cages and measured the changes of currents during a feeding activity. Results suggest that changes in current may be related to the feeding behavior of the fishes, but more data needs to be collected and analyzed to understand this relationship. To improve on the experiences from the initial experiment, we designed a modular sensor system that will measure currents at more than one side of the fish cage during a feeding activity.

DOI： 10.23919/OCEANS44145.2021.9705858

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Motion control considering the effects of cable deflection caused by gravity and fluid resistance for Cable-restricted Underwater Vehicle 査読有り国際誌

Tanaka Y., Nishida Y., Ishii K.

Oceans Conference Record (IEEE) 2021-September 2021年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

For efficiently observing the marine resources, we developed an observation device with low operational risk and a wide observable area. The observation device consists of a seafloor station and an underwater vehicle tethered by a cable. As experimental validation result, we found that the vehicle tethered by a cable was able to navigate with an error of less than 0. 071m compared with the planned trajectory. The vehicle is controlled using the cable restraint condition and the forces exerted by the thrusters while considering the effect of the cable slack, without the need of any feedback signal.

DOI： 10.23919/OCEANS44145.2021.9705674

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A new rotary actuator capable of rapid motion using an antagonistic cam mechanism 査読有り国際誌

Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Journal of Advances in Artificial Life Robotics 1 ( 3 ) 143 - 151 2020年12月

Tomato growth state map for the automation of monitoring and harvesting 査読有り国際誌

Fujinaga T., Yasukawa S., Ishii K.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 32 ( 6 ) 1279 - 1291 2020年12月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020, Fuji Technology Press. All rights reserved. To realize smart agriculture, we engaged in its system-atization, from monitoring to harvesting tomato fruits using robots. In this paper, we explain a method of generating a map of the tomato growth states to mon-itor the various stages of tomato fruits and decide a harvesting strategy for the robots. The tomato growth state map visualizes the relationship between the maturity stage, harvest time, and yield. We propose a generation method of the tomato growth state map, a recognition method of tomato fruits, and an estimation method of the growth states (maturity stages and harvest times). For tomato fruit recognition, we demonstrate that a simple machine learning method using a limited learning dataset and the optical properties of tomato fruits on infrared images exceeds more com-plex convolutional neural network, although the results depend on how the training dataset is created. For the estimation of the growth states, we conducted a survey of experienced farmers to quantify the maturity stages into six classifications and harvest times into three terms. The growth states were estimated based on the survey results. To verify the tomato growth state map, we conducted experiments in an ac-tual tomato greenhouse and herein report the results.

DOI： 10.20965/jrm.2020.p1279

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Design and optimisation of bio-inspired robotic stochastic search strategy 査読有り国際誌

Maroofkhani F., Ali Forough Nassiraei A., Ishii K.

International Journal of Reasoning-based Intelligent Systems 12 ( 3 ) 187 - 192 2020年09月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 Inderscience Enterprises Ltd. An autonomous robot's search strategy is the set of rules that it employs while looking for targets in its environment. Biological systems (e.g., foraging animals) provide useful inspirations for designing optimal stochastic search algorithms for autonomous robots. Due to the complexity of interaction between the robot and its environment, optimisation must be performed in high-dimensional parameter space. We analyse the dependence of search efficiency on environmental parameters and robot characteristics using response surface methodology (RSM), a technique originally developed for experimental design. In this study, the efficiency of a strategy focuses on Lévy walk search strategies on two-dimensional landscapes with clumped resource distributions. We show how RSM techniques can be used to identify optimal parameter values and to describe how sensitive is the efficiency to the changes in these values.

DOI： 10.1504/IJRIS.2020.109647

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Behavior selection system for human-robot cooperation using tensor SOM 査読有り国際誌

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics, Networking and Artificial Life ( Atlantis press ) 7 ( 2 ) 81 - 85 2020年09月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 The Authors. Published by Atlantis Press SARL. This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/). With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses self-organizing map to select behaviors depending on the situation. A set of possible actions in soccer game is decided in advance and the algorithm is able to select the best option, given some specific conditions.

DOI： 10.2991/jrnal.k.200528.002

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トマトの収穫及び観察の自動化を目的としたロボットの開発招待有り

藤永　拓矢,石井　和男,川尻　一志

アグリバイオ 4 ( 9 ) 56 - 59 2020年08月

白杖搭載型の情報提示装置による振動位置の提示に対する正答率測定査読有り

片山大悟, 石井和男, 安川真輔, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子

第21回ロービジョン学会学術総会講演番号23 2020年07月

ローラ駆動される球体の運動解析査読有り

木村憲二, 筑紫彰太, 石井和男, 山本元司

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 38 ( 5 ) 485 - 495 2020年06月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

<p>Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have problems, including traversing uneven surfaces, slipping of the roller, and dust between the sphere and the roller. Despite of the disadvantages, these systems attract attention because of the possibility of stepped climbing and omnidirectional locomotion. In the future, it is anticipated that the mechanism using the sphere are developed. When the kinematics with respect to multiple rotational axes in arbitrary contacted on the sphere is clarified, the mechanism may be widely used. In the paper, a general theorem for kinematics is discussed including the number of rollers driving the sphere, the type of roller (constraint or unconstraint), and the contact points of the rollers on the sphere and the roller axes direction. To verify the validity of the kinematics model a locomotion model of the ball dribbling mechanism with the two rollers is presented as a special example by carrying out the experimental demonstration using the device robot. </p>

DOI： 10.7210/jrsj.38.485

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/130007855562

Robot competition for underwater technology researchers and students 査読有り国際誌

Yuya Nishida, Takashi Sonoda, Takayuki Matsuo, Shinsuke Yasukawa, Masanori Sato, Yasunori Takemura, Kazuo Ishii

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 1 ( 1 ) 11 - 15 2020年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

To promote the research of oceanic engineering technology, an underwater robot competition has been held since 2016. The seventh competition this year consists of AUV leagues, in which vehicles developed by university teams automatically cruise in the field, and junior leagues that participate in making underwater craft. This paper presents the competition regulations for the AUV and junior leagues and the results of the competition held in October 2019.

DOI： 10.57417/jaalr.1.1_12

CiNii Article

その他リンク： http://hdl.handle.net/10228/00008171

Evaluation of the relationships between saliency maps and keypoints 査読有り国際誌

Mochizuki R., Ishii K.

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 7 ( 1 ) 16 - 21 2020年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 The Authors. Published by Atlantis Press SARL. This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/). The saliency map is proposed by Itti et al., to represent the conspicuity or saliency in the visual field and to guide the selection of attended locations based on the spatial distribution of saliency, which works as the trigger of bottom-up attention. If a certain location in the visual field is sufficiently different from its surrounding, we naturally pay attention to the characteristic of visual scene. In the research of computer vision, image feature extraction methods such as Scale-Invariant Feature Transform (SIFT), Speed-Up Robust Features (SURF), Binary Robust Invariant Scalable Keypoint (BRISK) etc., have been proposed to extract keypoints robust to size change or rotation of target objects. These feature extraction methods are inevitable techniques for image mosaicking and Visual SLAM (Simultaneous Localization and Mapping), on the other hand, have big influence to photographing condition change of luminance, defocusing and so on. However, the relation between human attention model, Saliency map, and feature extraction methods in computer vision is not well discussed. In this paper, we propose a new saliency map and discuss the stability of keypoints extraction and their locations using BRISK by comparing other saliency maps.

DOI： 10.2991/jrnal.k.200512.004

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生物捕獲用自律型海中ロボットの開発:―小型キャニスター付きスラープガンを用いた連続サンプリング―

西田祐也, 安川真輔, 園田隆, 井上昇悟, 渡邉啓介, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 1P1 - C13 2020年05月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

<p>Autonomous underwater vehicles (AUVs) observe a wide area by using mounted camera and LED lights and is used for bio-resource survey. However, AUVs is difficult to capture the sample useful for scientists. Previous AUVs can capture only specific benthos that its developer decided the target before resource survey, but scientists for fisheries resource can't chose sampling target during observation by AUVs. To realize an efficient bio-resources survey, the authors developed AUV that can capture the target instructed by the operator during observation. Because the slurp gun installed on the AUV has no canister, the AUV catches only one sample in one dive. This paper explains developed AUV and slurp gun with the canisters, and reports on sea trials using them.</p>

DOI： 10.1299/jsmermd.2020.1P1-C13

CiNii Article